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GPS Vector Tracking Receivers with Rate Detector for integrity monitoring

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Computers, Materials & Continua 2021年第11期69卷 2387-2403页

作者： Dah-Jing Jwo Ming-Hsuan Lee Department of Communications Navigation and Control EngineeringTaiwan Ocean UniversityKeelung202301TaiwanChina

In this paper,the integrity monitoring algorithm based on a Kalman filter(KF)based rate detector is employed in the vector tracking loop(VTL)of the Global Positioning System(GPS)*** the VTL approach,the extended Kalman filter(EKF)simultaneously tracks the received signals and estimates the receiver’s position,velocity,*** contrast to the scalar tracking loop(STL)that uses the independent parallel tracking loop approach,the VTL technique uses the correlation of each satellite signal and user dynamics and thus reduces the risk of loss lock of *** the VTL scheme provides several important advantages,the failure of tracking in one channel may affect the entire system and lead to loss of lock on all *** integrity monitoring algorithm can be adopted for robustness *** general,the standard integrity monitoring algorithm can timely detect the step type erroneous ***,in the presence of ramp type slowly growing erroneous signals,detection of such type of error takes much more time since the error cannot be detected until the cumulative exceeds the specified *** integrity monitoring based on the rate detector possesses good potential for resolving such *** test statistic based on the pseudorange residual in association with the EKF is applied for determination of whether the test statistic exceeds the allowable threshold *** fault detection and exclusion(FDE)mechanism can then be employed to exclude the hazardous erroneous signals for the abnormal satellites to assure normal operation of GPS *** of the integrity monitoring algorithm based on the EKF based rate detector will be *** assessment and evaluation will be presented.

关键词： Global positioning system vector tracking loop integrity monitoring rate detector slowly growing errors

Short-term warning and integrity monitoring algorithm for coal mine shaft safety

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Transactions of Nonferrous Metals Society of China 2014年第11期24卷 3666-3673页

作者：王坚谭兴龙韩厚增 T.B.AFENI 中国矿业大学国土环境与灾害监测国家测绘地理信息局重点实验室徐州221116 中国矿业大学环境与测绘学院徐州221116 School of Mining Engineering University of the Witwatersrand Johannesburg 2000 South Africa

A new short-term warning and integrity monitoring algorithm was proposed for coal mine shaft safety. The Kalman filter (KF) model was used to extract real global positioning system (GPS) kinematic deformation information. The short-term warning model was built by using the two-side cumulative sum (CUSUM) test, which further improves the warning system reliability. Availability (the minimum warning deformation, MWD), false alarm rate (the average run length, ARL), missed rate (the warning delay, WD) and the relationships among them were analyzed and the method choosing warning parameters is given. A test of a deformation simulation platform shows that the warning algorithm can be effectively used for steep deformation warning. A field experiment of the Malan mine shaft in Shanxi coal area illustrates that the proposed algorithm can detect small dynamic changes and the corresponding occurring time. At given warning thresholds (MWD is 15 mm and ARL is 1000),the detected deformations of two consecutive days’ deformation sequences with the algorithm occur at the 705th epoch (705 s) and the 517th epoch (517 s), respectively.

关键词： coal mine shaft deformation cumulative sum short-term warning Kalman filter integrity monitoring

integrity monitoring of PPP-RTK based on Multiple Hypothesis Solution Separation

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Integrity Monitoring of PPP-RTK based on Multiple Hypothesis...

第十三届中国卫星导航年会

作者： Shizhuang Wang Xingqun Zhan Yingchao Xiao Yawei Zhai Shanghai Jiao Tong University GeeSpace Co.Ltd

Recent progress for high-precision positioning mainly focused on PPP-RTK,which is a precise point positioning(PPP) technique based on a realtime kinematic(RTK) ***-RTK is expected to become the mainstream positioning solution for various intelligent transportation systems(ITS) such as autonomous driving,unmanned aerial vehicles,and urban air *** studies on PPP-RTK mainly focused on improving navigation ***,for safety-critical applications,integrity is also an important performance *** PPP-RTK is usually implemented using a Kalman filter(KF),the well-known integrity monitoring schemes developed for leastsquares-based systems cannot be directly applied to *** considering the time-sequential nature of KF,we propose a user-end integrity monitoring scheme of PPP-RTK based on multiple hypothesis solution separation(MHSS) to offer high-reliability and high-precision position solutions with realtime integrity *** proposed scheme includes two key functions:real-time fault detection and rigorous protection level(PL) *** scheme captures both the faults from PPP-RTK service products and those faults introduced at the user *** are carried out with real data and simulated fault *** results suggest the effectiveness of the proposed scheme and indicate that multi-constellation PPP-RTK can offer position solutions with decimeter-level PLs(integrity risk:10

关键词： PPP-RTK integrity monitoring Fault Detection Protection Level

Concealed integrity monitoring for Wireless Sensor Networks

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Wireless Sensor Network 2011年第1期3卷 10-17页

作者： Bjorn Stelte Thomas Bühring Institut für Technische Informatik Universitat der Bundeswehr MünchenNeubibergGermany

Nowadays, sensor networks are widely installed around the world. Typical sensors provide data for healthcare, energy management, environmental monitoring, etc. In the future sensors will become a part of critical infrastructures. In such a scenario the network operator has to monitor the integrity of the network devices, otherwise the trustworthiness of the whole system is questionable. The problem is that every integrity protocol needs a secure channel between the devices. Therefore, we will introduce a covert channel for hidden transportation of integrity monitoring messages. The covert channel enables us to hide integrity check messages embedded into regular traffic without giving potential attackers a hint on the used integrity protocol.

关键词： Covert Channel integrity monitoring Wireless Sensor Network

An integrity monitoring Algorithm for Satellite Clock Based on Test Statistics

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An Integrity Monitoring Algorithm for Satellite Clock Based ...

第三届中国卫星导航学术年会

作者： Xinming Huang,Hang Gong,Wenke Yang,Xiangwei Zhu,Gang Ou Satellite Navigation R&D Center,National Univ.of Defense Technology,Changsha 410073,China

As a core part of satellite payload,satellite clock has a direct influence on GNSS service ***,it is necessary to monitor its integrity. In this paper,real-time test statistics for satellite clock phase and frequency anomaly are built,and an integrity monitoring algorithm for satellite clock based on these statistics is *** is composed of two parts,including phase anomaly monitoring and frequency anomaly monitoring,which mainly aims at three anomalies comprising occasional bad or outlier points,anomaly jumps that later return to stable values and phase or frequency *** new algorithm can not only detect phase and frequency anomalies,but also identify and deal with clock anomaly instantly,including eliminating and replacing the anomaly data. Satellite clock anomalies are simulated using the IGS observation clock data and performance of the new algorithm is *** results show that the new algorithm has a perfect performance of detecting the satellite clock anomaly including both phase anomaly and frequency *** the same time,it can also eliminate and replace the anomaly data,and the replaced error is negligible. The integrity monitoring algorithm for satellite clock proposed in this paper is helpful to GNSS satellite clock autonomous integrity monitoring.

关键词： Satellite clock Phase Anomaly Frequency Anomaly Test statistic Real-time anomaly detection integrity monitoring

An On-Board Clock integrity monitoring Algorithm for Detecting Weak Anomaly Bias

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An On-Board Clock Integrity Monitoring Algorithm for Detecti...

第四届中国卫星导航学术年会

作者： Xinming Huang Hang Gong Wenke Yang Xiangwei Zhu Gang Ou Satellite Navigation R＆D Center National Univ.of Defense Technology

As a core part of satellite payload, on-board clock has a direct influence on GNSS service performance. Therefore, it is necessary to monitor its integrity. In this paper, real-time on-board clock phase residuals are obtained by sequential least squares estimation, and a novel sum test statistic based on residuals is constructed. An integrity monitoring algorithm for on-board clock based on this test statistic is proposed. Performance of the new algorithm is analyzed and verified by simulation. The results show that the new algorithm has a perfect performance of detecting weak on-board clock anomaly bias. The integrity monitoring algorithm for on-board clock proposed in this paper is helpful to GNSS on-board clock autonomous integrity monitoring.

关键词： On-board Clock Weak Anomaly Bias Sum Test statistic integrity monitoring

Receiver Autonomous integrity monitoring Parameter Design and Analysis for Multi-constellation Navigation

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Receiver Autonomous Integrity Monitoring Parameter Design an...

第三届中国卫星导航学术年会

作者： Peng Lijun*, Jiang Kai, Duan Xiaojun, Zhen Yan, Yang Wenqiang College of Science, National University of Defense Technology, Changsha 410073 Aerospace Flight Dynamics laboratory, Beijing 10094

integrity performance is a confidence level which reflects the correctness of navigation information. The positioning accuracy and availability would be improved when user combines the GPS navigation information with that of Galileo and COMPASS systems. For local users, it is important to make full use of the whole integrity information of the three constellations. Based on the analysis of critical characters of multi-constellation navigation satellite system, considering the critical parameters of RAIM algorithm, missed detection probability is given using the information of satellite failure probability, missed detection probability and integrity risk, horizontal protection level（HPL） and vertical protection level（VPL） are analyzed both in theory and mathematical simulation. Results show that the receiver autonomous integrity monitoring performance based on multi-constellation navigation satellite system is much better than that based on a single constellation system. Both the missed detection probability and protection levels are improved. The availability of RAIM algorithm is enhanced.

关键词： integrity monitoring multi-constellation navigation system RAIM missed detection probability

Kalman Filter-Based integrity monitoring for integrated GNSS/INS/Vision system against sensor faults

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Kalman Filter-Based integrity monitoring for integrated GNSS...

第十三届中国卫星导航年会

作者： Haitao Jiang Tuan Li Chuang Shi Beihang University Beijing Institute of Technology

Global Navigation Satellite System/Inertial Navigation System（GNSS/INS）/Vision integration has been increasingly investigated for autonomous robots like self-driving cars. However, for this integrated system, not only positioning accuracy but also its reliability is required. Therefore, integrity monitoring is essential to the GNSS/INS/Vision integrated navigation system. In this paper, a novel protection level（PL） formula to ensure the integrity of the integrated GNSS/INS/Vision system is proposed, which can be calculated by the relation between the filter estimation error and faults. A field vehicular test was conducted to evaluate the performance of the proposed PL. The results show that the proposed PL for the GNSS/INS/Vision integration can bound the position error against GNSS, INS and visual measurement faults.

关键词： GNSS/INS/Vision integration extended Kalman filter (EKF) protection level (PL) integrity monitoring

LEO Spaceborne Receiver Autonomous integrity monitoring Algorithm Based On Dynamic Model Assistance

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LEO Spaceborne Receiver Autonomous Integrity Monitoring Algo...

第十三届中国卫星导航年会

作者： Chuanpeng Guo Ruijie Li Liuqi Wang Yi Liu Qiwei Ye Harbin Engineering University

Spaceborne terminal receiver autonomous integrity monitoring can trigger alarm information to users in time when the orbit determination error of a Low Earth Orbit（LEO） satellite exceeds the allowable limit. It is indispensable for the application of LEO satellites in navigation services that involve life safety. The traditional Receiver Autonomous integrity monitoring（RAIM） based on the least square residual snapshot is implemented in the measurement domain. It fails to make full use of good dynamic characteristics of LEO satellites, resulting in relatively low availability. This paper proposes an RAIM for LEO satellite receivers based on dynamic model assistance. This method is based on the extended kalman filter and integrates the observation model and dynamic model of LEO satellites, then respectively construct test statistic and protection level. In this paper, RAIM based on least square residuals is used as a contrast, and simulation is designed to verify the performance of the proposed algorithm. Simulation results show that the fault detection ability is improved by introducing the dynamic model of the LEO satellite. At the same time, the availability of the proposed method is tested at 10, 20 and 50 meters, and the results show that the availability of the proposed method is improved by 98.84%, 93.28% and 37.84%.

关键词： integrity monitoring Low Earth Orbit Satellite Dynamic Model Extended Kalman Filter